TY - JOUR
T1 - Legged vehicle control and vibration reduction
AU - Zaier, Riadh
AU - Abdo, Jamil
PY - 2012/3
Y1 - 2012/3
N2 - This paper presents a design method of controller reducing the vibration of the upper body of a legged vehicle during locomotion. To design locomotion pattern generator, instead of using non-linear dynamics models and solving complex equations, the control strategy is simply based on the use of piecewise linear oscillators and a few parameters that can be easily obtained and tuned. In this research framework, we present tuning algorithms of both the rolling profile and the feedback controllers gains such that the mechanical vibration in the legged vehicle during locomotion is attenuated. As a result, stable and smooth locomotion is obtained. The effectiveness of the proposed method is demonstrated by experimental results.
AB - This paper presents a design method of controller reducing the vibration of the upper body of a legged vehicle during locomotion. To design locomotion pattern generator, instead of using non-linear dynamics models and solving complex equations, the control strategy is simply based on the use of piecewise linear oscillators and a few parameters that can be easily obtained and tuned. In this research framework, we present tuning algorithms of both the rolling profile and the feedback controllers gains such that the mechanical vibration in the legged vehicle during locomotion is attenuated. As a result, stable and smooth locomotion is obtained. The effectiveness of the proposed method is demonstrated by experimental results.
KW - Legged vehicle
KW - Motionpattern generation
KW - Rhythmic motion
KW - Vibration reduction
UR - http://www.scopus.com/inward/record.url?scp=84859415116&partnerID=8YFLogxK
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U2 - 10.1504/IJVNV.2012.046175
DO - 10.1504/IJVNV.2012.046175
M3 - Article
AN - SCOPUS:84859415116
SN - 1479-1471
VL - 8
SP - 74
EP - 94
JO - International Journal of Vehicle Noise and Vibration
JF - International Journal of Vehicle Noise and Vibration
IS - 1
ER -